CN113232024A - Industrial robot soft object grabbing and identifying device and method - Google Patents
Industrial robot soft object grabbing and identifying device and method Download PDFInfo
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- CN113232024A CN113232024A CN202110591367.5A CN202110591367A CN113232024A CN 113232024 A CN113232024 A CN 113232024A CN 202110591367 A CN202110591367 A CN 202110591367A CN 113232024 A CN113232024 A CN 113232024A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention belongs to the technical field of industrial robots, and particularly relates to a soft object grabbing and identifying device and method for an industrial robot. The soft object grabbing and recognizing device and the soft object grabbing and recognizing method for the industrial robot are characterized in that grabbing clamp parts are arranged, a silica gel contact block on a first hinged connecting rod and a second hinged connecting rod is in contact with the outer surface of a soft object, the outer surface of the soft object can be prevented from being damaged, a pressure value can be set by a pressure sensor in the silica gel contact block, the pressure of the silica gel contact block pressing the soft object can be detected when the silica gel contact block and the soft object are grabbed, when the pressure reaches the set value, the micro motor is controlled to stop running, and the outer surface damage of the soft object caused by the fact that the clamping force of the silica gel contact block is too large can be prevented.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a soft object grabbing recognition device and a soft object grabbing recognition method for an industrial robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
The industrial robot that has now is when the mill of the object of production soft thing uses, can make because of the characteristic of soft thing object distribute on transport mechanism not regularly, the shape of soft thing is irregular simultaneously, when industrial robot snatchs, it is inhomogeneous to cause soft thing object to appear the atress easily, the phenomenon of damage appears, simultaneously soft thing object does not have the law in transport mechanism's placing, industrial robot can not be fine adjust the direction of snatching according to the shape of soft thing object, cause industrial robot can not obtain fine application when snatching to soft thing object.
Disclosure of Invention
The invention provides an industrial robot soft object grabbing recognition device and an industrial robot soft object grabbing recognition method, which are based on the technical problems that when an existing industrial robot grabs soft object, due to the fact that the soft object is irregularly distributed on a conveying mechanism, the soft object cannot be grabbed in a proper direction accurately according to the position of each soft object, and meanwhile due to the fact that the soft object is irregularly shaped, corresponding force adjustment cannot be carried out to grab the soft object.
The invention provides a soft object grabbing and identifying device and method for an industrial robot, which comprise a bracket, a conveyor belt, an adjusting part, a direction adjusting device and a grabbing clamp part, wherein the lower surface of the conveyor belt is fixedly arranged on the upper surface of a support plate of the bracket;
the adjusting part is positioned on the outer surface of one side of the bracket and correspondingly adjusts the position of the grabbing clamp part according to the position of the soft object on the conveyor belt;
the direction adjusting device is positioned on the outer surface of the adjusting part and used for adjusting the same deflection angle of the gripping clamp part after detecting the deflection angle of the soft object on the conveyor belt;
the grabbing clamp part is positioned on the lower surface of the direction adjusting device and accurately and effectively grabs the soft object on the conveyor belt.
Preferably, the adjusting part is composed of a horizontal adjusting mechanism and an accurate adjusting mechanism, the horizontal adjusting mechanism comprises a supporting plate, the outer surface of one side of the supporting plate is fixedly arranged on the outer surface of one side of the bracket, a horizontal moving platform is fixedly arranged on the upper surface of the supporting plate, a vertical moving platform is fixedly arranged in the horizontal moving platform through a sliding block, the accurate adjusting mechanism comprises a horizontal hydraulic cylinder, the outer side surface of the horizontal hydraulic cylinder is fixedly arranged on the outer surface of the vertical moving platform through a sliding block, and a vertical hydraulic cylinder is fixedly arranged on a piston rod of the horizontal hydraulic cylinder;
through the technical scheme, wherein horizontal adjustment mechanism drives through the cooperation of motor with the threaded rod, use the conveyer belt upper surface as the original point plane, horizontal adjustment mechanism can adjust the removal of X axle and the Z axle direction that snatchs the anchor clamps part, can carry out corresponding adjustment according to the position of soft thing object fast, horizontal pneumatic cylinder among the accurate adjustment mechanism can adjust the position of the Y axle direction that snatchs the anchor clamps part, perpendicular pneumatic cylinder can adjust the position of the Z axle direction that snatchs the anchor clamps part, the accurate adjustment mechanism assists horizontal adjustment mechanism more accurate regulation to snatch the position of anchor clamps part.
Preferably, the direction adjusting device is composed of a direction adjusting mechanism and a detection mechanism, the direction adjusting mechanism comprises a direction adjusting groove, the upper surface of the direction adjusting groove is fixedly installed at one end of a piston rod of the vertical hydraulic cylinder, the outer side surface of the direction adjusting groove is fixedly provided with a direction adjusting motor, one end of an output shaft of the direction adjusting motor penetrates through the inner side wall of the direction adjusting groove and then is fixedly provided with a worm, the inner bottom wall of the direction adjusting groove is fixedly provided with a worm wheel through a bearing, and the outer surface of the worm wheel is meshed with the outer surface of the worm;
through above-mentioned technical scheme, wherein can make the rotation direction of transferring to the pole more accurate through the cooperation of worm and worm wheel, the screw thread of worm is denser, increases angle regulation's accuracy nature.
Preferably, the detection mechanism comprises a direction adjusting rod, the outer surface of the direction adjusting rod is fixedly mounted on the inner wall of the worm gear, one end of the direction adjusting rod penetrates through the lower surface of the direction adjusting groove and then is fixedly mounted with a direction adjusting connecting plate, the center of the lower surface of the direction adjusting connecting plate is fixedly mounted with a camera, and the outer surface of the center of the lens of the camera is provided with a cursor;
through the technical scheme, wherein the camera is the industry camera, catch the back through the soft thing object of camera on to the conveyer belt, adjust the position of camera through adjusting part, make the cross cursor center department of the center department of camera lens lie in the straight line center department that soft thing object both ends terminal surface central point is connected, regard the cursor as the position of plane rectangular coordinate system observation soft thing object, can be convenient for judge the angle that soft thing object deflected, adjust the direction of acute angle and snatch the anchor clamps part and carry out with the angle and deflect, it is parallel with the axis line of soft thing object to snatch the anchor clamps part, be convenient for snatch.
Preferably, the grabbing fixture component comprises a driving mechanism and a fixture mechanism, the driving mechanism comprises device plates, the outer side surfaces of the two device plates are respectively and fixedly installed on the outer surfaces of the two sides of the direction-adjusting connecting plate, the outer surfaces of the device plates are rectangular arrays and are fixedly provided with limiting frames, the upper surfaces of the limiting frames are fixedly provided with micro motors, the output shafts of the micro motors penetrate through the lower surfaces of the upper ends of the limiting frames and are fixedly provided with threaded rods, the other ends of the threaded rods are fixedly installed on the upper surfaces of the lower ends of the limiting frames, and the outer surfaces of the threaded rods are in threaded connection with sliding blocks;
through the technical scheme, the rotation of the threaded rod driven by the micro motor drives the movement of the threaded pipe sleeve on the threaded rod to control the deflection of the clamp mechanisms, each clamp mechanism is controlled by an independent driving mechanism, and corresponding grabbing can be performed according to the shape of the outer surface of a soft object.
Preferably, the clamping mechanism comprises brake rods, one ends of the two brake rods are hinged on the outer surfaces of the two sides of the sliding block through pin shafts, the outer surfaces of the two sides of the lower end of the limiting frame are both hinged with pushing rods through pin shafts, the hinged part of one ends of the two pushing rods is both hinged with a triangular brake plate through pin shafts, one ends of the two brake rods are respectively hinged with one ends of the two triangular brake plates through pin shafts, the other ends of the triangular brake plates are hinged with a first hinged connecting rod through pin shafts, the other ends of the pushing rods are hinged with the middle end of the first hinged connecting rod through pin shafts, one end of the pushing rod is hinged with a second hinged connecting rod through pin shafts, the other end of the first hinged connecting rod is hinged with the middle end of the second hinged connecting rod through pin shafts, and the outer side surfaces of the pushing rods and the outer side surfaces of the second hinged connecting rod are both fixedly provided with silica gel contact blocks, pressure sensors are fixedly arranged in the silica gel contact blocks;
through the technical scheme, two sets of anchor clamps mechanisms are mirror symmetry, also can crisscross the distribution according to the surface characteristic who snatchs the object, promotion through the brake lever, can drive the triangle braking plate and take place to deflect, thereby can drive first articulated connecting rod and the articulated connecting rod of second and take place the deflection of different degrees, similar finger is crooked, be convenient for fix soft object, first articulated connecting rod and the articulated connecting rod of second are all articulated through the round pin axle by the looks remote site of two connecting rods, wherein silica gel contact block has elasticity can prevent to destroy the surface of soft object, when the pressure value that detects silica gel contact block and soft object surface through pressure sensor reachs the value of settlement, can control micro motor stall, prevent that the too big soft material that causes of dynamics from damaging.
Preferably, the soft object is identified by the method;
when a soft object passes through the bottom of the camera, the camera recognizes the shape of the soft object through a shape recognition module to form a virtual rectangle after recognition, an adjustable grabbing frame is further arranged outside the virtual rectangle, and the side line of the grabbing frame is the position where the device board grabs the soft object;
drawing a circle by taking a central point formed by intersecting central lines of two adjacent sides of the rectangle as a circle center to form a pickup ring, wherein the radius of the pickup ring is adjustable;
step three, measuring an angle after the center point of the cursor aligns with the circle center of the pickup ring, controlling the direction-adjusting motor to start and drive the grabbing fixture part to rotate to coincide with the central line of the rectangle in the step one according to the measured angle, and then grabbing;
through above-mentioned technical scheme, can be through above-mentioned step, realize quick accurate snatching to the different shapes of soft thing object, the better problem that the shape that spreads out when solving soft thing object and falling on the conveyer belt is different and be difficult to snatch.
Preferably, the shape recognition module is composed of either or both of a shape recognition sensor and a contour sensor;
through the technical scheme, the shape of the soft object can be quickly measured and limited, meanwhile, for better application to the dynamic transmission condition of the soft object, the shape recognition module can be pre-installed in front of the grabbing clamp part, so that the calculation time for the whole device is realized, and when the shape recognition module pre-limits the shape of the soft object, the soft object is just positioned under the grabbing clamp part, so that grabbing action is realized.
Preferably, the angles measured in the third step are measured according to the sequence from the first quadrant to the fourth quadrant, the measured angles are divided into an angle a and an angle B, and the sum of the angle a and the angle B is ninety degrees;
controlling the starting angle of the steering motor to take the minimum angle of the angle A and the angle B as a reference angle, and when the angle A is equal to the angle B, determining according to the sequence from the first quadrant to the fourth quadrant;
through above-mentioned technical scheme to minimum angle is as transferring to the angle that the motor started, can reduce pivoted angle with time, conveniently snatchs.
Preferably, the middle line of the long side of the rectangle is taken in the third step, and when the long side and the short side of the rectangle are equal, the angle is measured according to the sequence from the first quadrant to the fourth quadrant;
through the technical scheme, the grabbing action aiming at the soft objects in different shapes can be realized.
The beneficial effects of the invention are as follows:
1. through setting up the accent to the device, can be according to the position adjustment anchor clamps position of the soft thing object on the conveyer belt and press from both sides the position of mouthful, as the plane coordinate system through the cursor in the camera, a deflection angle for judging the soft thing object, through the start-up of transferring to the motor, it deflects with the same angle to drive and snatch anchor clamps part, make the axial lead of snatching anchor clamps part and soft thing object can be parallel, the rubber contact piece that can be convenient for snatch anchor clamps part contacts with soft thing object and snatchs, thereby can snatch the soft thing object of irregular distribution on the conveyer belt, current industrial robot has been solved when being directed at snatching soft thing object, because of soft thing object distributes irregularity on transport mechanism, the unable accurate technical problem who carries out the snatching of suitable direction according to the position of each soft thing object.
2. Through setting up and snatching the anchor clamps part, can snatch according to the anomalous surface of object, through a plurality of anchor clamps mechanisms on two device boards, every anchor clamps mechanism is controlled by the cooperation of solitary micro motor and threaded rod, can carry out solitary control according to the anomalous surface of soft thing object and press from both sides and get, thereby can carry out the pertinence to the anomalous surface of soft thing object and press from both sides and get, can make to press from both sides effectively and get soft thing object and do not damage soft thing object simultaneously, solved current industrial robot when being directed at snatching soft thing object, because the anomalous appearance of soft thing object, can't carry out corresponding dynamics adjustment and carry out the technical problem of snatching.
3. Through setting up the gripping clamp part, through the outer surface contact of silica gel contact block on first articulated connecting rod and the second articulated connecting rod with soft thing object, can prevent to cause the surface damage of soft thing object, pressure sensor in the silica gel contact block can set for pressure numerical value, can detect the pressure that silica gel contact block pressed soft thing object when silica gel contact block snatched with soft thing object, when pressure reachd the value of settlement, control micro motor stall, can prevent that too big surface damage that causes soft thing object of silica gel contact block clamping-force, thereby can reduce the surface damage of fixture to soft thing object, solved current industrial robot when to snatching soft thing object, because of the anomalous appearance of soft thing object, can't carry out corresponding dynamics adjustment and snatch technical problem.
Drawings
Fig. 1 is a schematic diagram of an industrial robot soft object grabbing identification device and an identification method according to the present invention;
fig. 2 is a perspective view of a supporting plate structure of an industrial robot soft object grabbing identification device and an identification method according to the present invention;
fig. 3 is a perspective view of a horizontal hydraulic cylinder structure of the soft object grabbing and identifying device and the soft object grabbing and identifying method for the industrial robot, which are provided by the invention;
fig. 4 is a perspective view of a direction-adjusting motor of the soft object grabbing identification device and the soft object grabbing identification method for the industrial robot, which are provided by the invention;
fig. 5 is a perspective view of a camera structure of an industrial robot soft object grabbing identification device and an identification method according to the present invention;
fig. 6 is a perspective view of a fixture mechanism of the soft object grabbing and identifying device and the soft object grabbing and identifying method for the industrial robot according to the invention;
fig. 7 is a top view of the camera recognizing the soft object of the soft object grabbing recognition device and the recognition method of the industrial robot according to the present invention;
fig. 8 is a schematic diagram of a method for recognizing a soft object by a camera of an industrial robot soft object grabbing recognition device and a recognition method according to the present invention.
In the figure: 1. a support; 11. a conveyor belt; 2. a support plate; 21. a horizontal moving platform; 22. a vertically moving platform; 23. a horizontal hydraulic cylinder; 24. a vertical hydraulic cylinder; 3. a direction regulating groove; 31. a direction-adjusting motor; 32. a worm; 33. a worm gear; 34. a direction adjusting rod; 35. adjusting the direction of the connecting plate; 36. a camera; 361. a shape recognition module; 3611. a shape recognition sensor; 3612. a profile sensor; 37. a cursor; 4. a mounting plate; 41. a limiting frame; 42. a micro motor; 43. a threaded rod; 44. a threaded pipe sleeve; 5. a brake lever; 51. a push rod; 52. a triangular brake plate; 53. a first articulation link; 54. a second articulation link; 55. a silica gel contact block; 56. a pressure sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-8, an industrial robot soft object grabbing and identifying device comprises a support 1, and further comprises a conveyor belt 11, an adjusting component, a direction adjusting device and a grabbing clamp component, wherein the lower surface of the conveyor belt 11 is fixedly installed on the upper surface of a support plate of the support 1, and the conveyor belt 11 is a transmission component commonly used in industrial production and is arranged in the embodiment, so that the applicability of the embodiment can be increased.
As shown in fig. 1 to 3, an adjusting unit is provided on an outer surface of one side of the frame 1 and adjusts a position of the gripping jig unit according to a position of the soft object on the conveyor belt 11, and the adjusting unit is composed of a horizontal adjusting mechanism and a fine adjusting mechanism.
In order to adjust the grabbing clamp part in the horizontal direction, in the embodiment, a horizontal adjusting mechanism is provided, the horizontal adjusting mechanism is installed at the position of the outer side surface of one side of the bracket 1, in order to support the horizontal adjusting mechanism, the supporting plate 2 is fixedly installed on the outer surface of one side of the bracket 1, in order to adjust the position in the horizontal direction according to the soft object on the conveyor belt 11, the horizontal moving platform 21 is fixedly installed on the upper surface of the supporting plate 2, in order to adjust the position in the vertical direction according to the soft object on the conveyor belt 11, the vertical moving platform 22 is fixedly installed inside the horizontal moving platform 21 through a sliding block, in order to facilitate the adjustment of the grabbing clamp part, the vertical moving platform 22 is distributed perpendicular to the horizontal moving platform 21, the precise adjusting mechanism is installed at the outer side surface of the vertical moving platform 22 in a sliding manner, in order to perform corresponding adjustment in the horizontal direction according to the position of the soft object more precisely, a horizontal hydraulic cylinder 23 is fixedly arranged on the outer side surface of the vertical moving platform 22 through a sliding block, a vertical hydraulic cylinder 24 is fixedly arranged at one end of a piston rod of the horizontal hydraulic cylinder 23 for more accurately carrying out corresponding adjustment in the vertical direction according to the position of a soft object, and the vertical hydraulic cylinder 24 is distributed perpendicular to the horizontal hydraulic cylinder 23 for preventing the grabbing clamp part from moving horizontally.
As shown in fig. 4-8, the direction adjusting device is located on the outer surface of the adjusting part and detects the deflection angle of the soft object on the conveyor belt 11, and then adjusts the same deflection angle of the driving grabbing clamp part, and the direction adjusting device is composed of a direction adjusting mechanism and a detecting mechanism;
in order to accurately grab soft objects with different shapes laid on the conveyor belt 11, a direction adjusting mechanism is arranged in the embodiment, the direction adjusting mechanism is arranged at the position of the lower surface of the vertical hydraulic cylinder 24, in order to correspondingly adjust according to the deflection direction of the soft object, a direction adjusting groove 3 is fixedly arranged at one end of a piston rod of the vertical hydraulic cylinder 24, in order to automatically adjust the direction, a direction adjusting motor 31 is fixedly arranged on the outer surface of the direction adjusting groove 3, in order to accurately adjust the direction, a worm 32 is fixedly arranged after an output shaft of the direction adjusting motor 31 penetrates through the inner side wall of the direction adjusting groove 3, then a worm wheel 33 is fixedly arranged on the inner bottom wall of the direction adjusting groove 3 through a bearing, the outer surface of the worm wheel 33 is meshed with the outer surface of the worm 32, the worm wheel 33 can be driven to rotate through the rotation of the worm 32, and the angle of a grabbing clamp part can be more accurately adjusted, and set up worm wheel 33 worm 32, except that the effect that can realize accurate regulation, make full use of worm wheel 33 worm 32 one-way transmission characteristic simultaneously for the direction-adjusting motor 31 can not receive the influence that the anchor clamps part snatched the action.
In order to recognize and capture the shapes of soft objects with different shapes spread on the conveyor belt 11, in the embodiment, a detection mechanism is arranged, the detection mechanism is arranged on the position of the inner wall of a worm wheel 33, a direction adjusting rod 34 is fixedly arranged on the inner wall of the worm wheel 33 for driving the detection mechanism by the rotation of the worm wheel 33, then one end of the direction adjusting rod 34 penetrates through the lower surface of the direction adjusting groove 3 and is fixedly arranged with a direction adjusting connecting plate 35, in order to detect the positions of the soft objects, a camera 36 is fixedly arranged at the center of the lower surface of the direction adjusting connecting plate 35, in order to detect the deflection angles of the soft objects, a cursor 37 is arranged at the center of a lens of the camera 36, and in order to control the grabbing clamp parts to rotate along with the shapes of the soft objects, the camera 36 is electrically connected with the direction adjusting motor 31;
step one, when the soft object passes through the bottom of the camera 36, the camera 36 recognizes the shape of the soft object through the shape recognition module 361, a virtual rectangle is formed after recognition, an adjustable grabbing frame is further arranged outside the virtual rectangle, and the position of the soft object grabbed by the device board 4 is located on the side line of the grabbing frame;
further, the shape recognition module 361 is composed of either or both of a shape recognition sensor 3611 or a contour sensor 3612; the shape of the soft object can be quickly measured and limited, meanwhile, in order to be better applied to the dynamic transmission condition of the soft object, the shape recognition module 361 can be installed in front of the grabbing clamp part in advance, so that the calculation time of the whole device is given, and when the shape recognition module 361 limits the shape of the soft object in advance, the soft object is just positioned right below the grabbing clamp part, and grabbing action is achieved.
Drawing a circle by taking a central point formed by intersecting central lines of two adjacent sides of the rectangle as a circle center to form a pickup ring, wherein the radius of the pickup ring is adjustable;
as shown in fig. 5-8, the grabbing clamp part is located on the lower surface of the direction adjusting device and accurately and effectively grabs the soft object on the conveyor belt 11, the grabbing clamp part is composed of a driving mechanism and a clamp mechanism, in order to better grab the soft object on the conveyor belt 11, a main motor on the conveyor belt 11 can be electrically connected with the grabbing clamp part, a linkage relation can be realized with the grabbing clamp part, grabbing is facilitated to the maximum extent, in the recognition process, the time for conveying the conveyor belt 11 to the position right below the grabbing is fully utilized, calculation time in the system is given, seamless grabbing action is facilitated, meanwhile, an adjustable picking ring is arranged, the jumping range of the cursor 37 can be limited accordingly, the range of the picking ring can be adjusted according to actual precision requirements, and different production requirements are met.
In order to control the gripping and clamping components to respectively clamp the soft object on the conveyor belt 11, in this embodiment, a driving mechanism is provided, the driving mechanism is installed at the positions of the outer surfaces of the two sides of the direction-adjusting connecting plate 35, in order to grip the outer surfaces of the two sides of the soft object, the device plates 4 are respectively and fixedly installed on the outer surfaces of the two sides of the direction-adjusting connecting plate 35, in order to perform limiting, a limiting frame 41 is fixedly installed on the outer surface of the device plate 4, the limiting frame 41 is composed of a square plate and a circular plate, the square plate is located above the circular plate to facilitate installation of the driving mechanism, in order to automatically drive the clamping mechanism, a micro motor 42 is fixedly installed on the top end upper surface of the limiting frame 41, in order to control deflection of the clamping mechanism, a threaded rod 43 is fixedly installed on the output shaft of the micro motor 42, the threaded rod 43 is a thin threaded rod, and then the other end of the threaded rod 43 is fixedly installed on the bottom end upper surface of the limiting frame 41 through a bearing, then, a threaded pipe sleeve 44 is connected to the outer surface of the threaded rod 43 in a threaded manner to drive the clamp mechanism to deflect, and the threaded rod 43 is connected with the threaded pipe sleeve 44 in a threaded manner to enable the movement adjustment of the threaded pipe sleeve 44 to be more accurate;
in order to stably grab the soft object on the conveyor belt 11, in the embodiment, a clamping mechanism is provided, the clamping mechanism is installed on the outer surface of the threaded pipe sleeve 44, in order that the threaded pipe sleeve 44 can drive the clamping mechanism to clamp the soft object, both sides of the outer surface of the threaded pipe sleeve 44 are hinged with the brake rods 5 through pin shafts, in order to better grab the soft object, both outer surfaces of both sides of the lower end of the limiting frame 41 are hinged with the push rods 51 through pin shafts, in order to control the deflection of the push rods 51, a triangular brake plate 52 is hinged at the hinged part of one end of each of the two push rods 51 through a pin shaft, in order to control the push rods 51 through the deflection of the brake rods 5, one end of each of the two brake rods 5 is hinged at the other end of the triangular brake plate 52 through a pin shaft, in order to firmly grab the soft object, a first hinge connecting rod 53 is hinged at the other end of the triangular brake plate 52 through a pin shaft, then the other end of the pushing rod 51 is hinged with the middle end of the first hinged connecting rod 53 through a pin shaft, the first hinged connecting rod 53 is composed of a hinged rod and a T-shaped hinged rod, one end of the pushing rod 51 is hinged with one end of the T-shaped hinged rod, the hinged point hinged with the pushing rod 51 is deflected through a triangular braking plate 52 to drive the first hinged connecting rod 53 to deflect, one end of the pushing rod 51 is further hinged with a second hinged connecting rod 54 through a pin shaft, the other end of the first hinged connecting rod 53 is hinged with the middle end of the second hinged connecting rod 54 through a pin shaft, in order to prevent the outer surface of the grabbed soft object from being damaged in the grabbing process, a silica gel contact block 55 is fixedly installed on the outer side surface of the pushing rod 51 and the outer side surface of the second hinged rod, the outer surface of the silica gel contact block 55 is in a finger belly shape, the soft object can be fixed and can simulate the hand to grab the soft object, can be stable snatch the anomalous soft thing object of surface, silica gel contact block 55 is formed by the silica gel material preparation, certain softness has, can not cause the damage to the surface of soft thing object, and can realize snatching soft thing object and remove, simultaneously in order to prevent that the power of grabbing from leading to the fact the damage of suffering of soft thing object greatly, equal fixed mounting pressure sensor 56 in the inside of a plurality of silica gel contact blocks 55, can detect the pressure that soft thing object received silica gel contact block and exert for pressure sensor 56, prevent that anchor clamps mechanism from continuing to snatch and causing soft thing object to receive the too big damage that causes of extrusion force, with pressure sensor 56 and micro motor 42 electric connection.
And step three, measuring the angle after the central point of the cursor aligns to the circle center of the pickup ring, controlling a direction adjusting motor 31 to start and drive the grabbing fixture part to rotate to coincide with the central line of the rectangle in the step one according to the measured angle, and then carrying out grabbing action.
Through the steps, quick and accurate grabbing can be realized for different shapes of the soft object, and the problem that the soft object is difficult to grab due to different spread shapes when falling onto the conveyor belt 11 is solved better.
Further, the angles measured in the third step are measured according to the sequence from the first quadrant to the fourth quadrant, the measured angles are divided into an angle A and an angle B, and the sum of the angle A and the angle B is ninety degrees;
controlling the starting angle of the direction-adjusting motor to take the minimum angle of the angle A and the angle B as a reference angle, and when the angle A is equal to the angle B, determining according to the sequence from the first quadrant to the fourth quadrant; the minimum angle is used as the angle for starting the direction-adjusting motor 31, so that the rotating angle and time can be reduced, and the grabbing is convenient.
Taking the middle line of the long side of the rectangle in the third step, and measuring the angle according to the sequence from the first quadrant to the fourth quadrant when the long side and the short side of the rectangle are equal; the soft object recognition and grabbing device can realize grabbing actions aiming at soft objects in various shapes, and accordingly, recognition and grabbing of the soft objects are realized.
In order to adapt to the grabbing of soft objects with different shapes and sizes, an adjustable picking frame can be arranged outside the virtual rectangle, the picking frame is based on the virtual rectangle, when the grabbing is completed through recognition, the micro motor 42 is started to control the silica gel contact block 55 to do a preparation action before grabbing along the side line of the picking frame, the distance before grabbing is controlled, and a moderate state is kept.
The working principle is as follows: when irregular soft objects distributed on the conveyor belt 11 need to be grabbed, the horizontal hydraulic cylinder 23 is controlled to move through the driving of the horizontal moving platform 21 and the vertical moving platform 22, so that the camera 36 can capture the soft objects, the middle point of the axis of the soft objects and the middle point of the cursor 37 of the camera 36 are located on the same straight line, the camera 36 can be close to the soft objects through the pushing of the piston rod of the vertical hydraulic cylinder 24, the deflection angle of the soft objects can be captured and detected by taking the cursor 37 as a plane coordinate system, the starting of the direction adjusting motor 31 is controlled, the worm 32 is matched with the worm wheel 33, the direction adjusting rod 34 can be driven to rotate, and the clamp mechanism can be parallel to the axis of the soft objects;
the vertical hydraulic cylinder 24 is lowered to drive the device plates 4 to be positioned at two sides of the soft object, the start of the micro motor 42 is controlled, the threaded rod 43 of the limiting frame 41 is driven to rotate, the threaded pipe sleeve 44 can move upwards, the brake rod 5 is pulled, one end of the brake rod 5 pulls the triangular brake plate 52 to deflect, the first hinge connecting rod 53 and the second hinge connecting rod 54 are driven to rotate through a hinge point of the triangular brake plate 52 hinged on the push rod 51, the threaded pipe sleeve 44 continues to rise, the triangular brake plate 52 is driven to continuously deflect, the first hinge connecting rod 53 deflects through the hinge point on the triangular brake plate 52, the second hinge connecting rod 54 is driven to approach the soft object, the silica gel contact blocks 55 at two sides of the soft object can move relatively to grab the soft object, the pressure sensor 56 in the silica gel contact block 55 can detect the pressure of the soft object on the silica gel contact block 55, when the pressure reaches the set pressure value, the micro motor 42 is controlled to stop running, the silica gel contact block 55 stops relative movement, the vertical hydraulic cylinder 24 is controlled to move, and the soft object is transported.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The soft object grabbing and identifying device for the industrial robot comprises a support (1) and is characterized by further comprising a conveyor belt (11), an adjusting component, a direction adjusting device and a grabbing clamp component, wherein the lower surface of the conveyor belt (11) is fixedly arranged on the upper surface of a support plate of the support (1);
the adjusting part is positioned on the outer surface of one side of the bracket (1) and correspondingly adjusts the position of the grabbing clamp part according to the position of the soft object on the conveyor belt (11);
the direction adjusting device is positioned on the outer surface of the adjusting part and used for detecting the deflection angle of the soft object on the conveyor belt (11) and then adjusting the same deflection angle of the gripping clamp part;
the grabbing clamp part is positioned on the lower surface of the direction adjusting device and accurately and effectively grabs the soft object on the conveyor belt (11).
2. The soft object grabbing and identifying device for the industrial robot according to claim 1, wherein: the adjusting part comprises horizontal adjusting mechanism and accurate adjusting mechanism, horizontal adjusting mechanism includes backup pad (2), one side surface fixed mounting of backup pad (2) is in one side surface of support (1), the last fixed surface of backup pad (2) is installed horizontal migration platform (21), there is vertical movement platform (22) inside horizontal migration platform (21) through slider fixed mounting, accurate adjusting mechanism includes horizontal hydraulic cylinder (23), the surface at vertical movement platform (22) is passed through slider fixed mounting to the lateral surface of horizontal hydraulic cylinder (23), the piston rod fixed mounting of horizontal hydraulic cylinder (23) has vertical hydraulic cylinder (24).
3. The soft object grabbing and identifying device for the industrial robot according to claim 2, wherein: transfer to the device and constitute by transferring to mechanism and detection mechanism, transfer to the mechanism and include adjustment tank (3), the last fixed surface of adjustment tank (3) is installed the piston rod one end of perpendicular pneumatic cylinder (24), the lateral surface fixed mounting of adjustment tank (3) has transfers to motor (31), transfer to motor (31) output shaft one end and run through fixed mounting has worm (32) behind the inside wall of adjustment tank (3), the interior diapire of adjustment tank (3) has worm wheel (33) through bearing fixed mounting, the surface of worm wheel (33) with the surface toothing of worm (32).
4. The soft object grabbing and identifying device for the industrial robot according to claim 3, wherein: detection mechanism is including transferring to pole (34), transfer to the fixed surface of pole (34) and install the inner wall of worm wheel (33), the one end of transferring to pole (34) is run through fixed mounting has the accent to even board (35) behind the lower surface of adjustment tank (3), transfer to the lower surface center fixed mounting who links board (35) and have camera (36), the central surface of camera lens of camera (36) is provided with cursor (37).
5. The soft object grabbing and identifying device for the industrial robot according to claim 4, wherein: snatch anchor clamps part comprises actuating mechanism and fixture mechanism, actuating mechanism includes device board (4), and the lateral surface difference fixed mounting of two device boards (4) is in the accent is to the both sides surface of even board (35), the surface of device board (4) is rectangle array fixed mounting and has spacing (41), the last fixed surface of spacing (41) installs micro motor (42), micro motor's (42) output shaft runs through fixed mounting has threaded rod (43) behind the upper end lower surface of spacing (41), the other end fixed mounting of threaded rod (43) the lower extreme upper surface of spacing (41), the surface threaded connection of threaded rod (43) has threaded pipe box (44).
6. The soft object grabbing and identifying device for the industrial robot according to claim 5, wherein: the clamp mechanism comprises two brake rods (5), one ends of the two brake rods (5) are hinged to the outer surfaces of the two sides of the threaded pipe sleeve (44) through pin shafts, the outer surfaces of the two sides of the lower end of the limiting frame (41) are respectively hinged with a push rod (51) through pin shafts, the hinged position of one end of each of the two push rods (51) is respectively hinged with a triangular brake plate (52) through a pin shaft, one end of each of the two brake rods (5) is respectively hinged with one end of each of the two triangular brake plates (52) through a pin shaft, the other end of each of the triangular brake plates (52) is hinged with a first hinged connecting rod (53) through a pin shaft, the other end of each of the push rods (51) is hinged with the middle end of each of the first hinged connecting rods (53) through a pin shaft, one end of each of the push rods (51) is hinged with a second hinged connecting rod (54) through a pin shaft, and the other end of each of the first hinged connecting rods (53) is hinged with the middle end of each of the second hinged connecting rods (54), the lateral surface of catch bar (51) with the equal fixed mounting of lateral surface of second articulated connecting rod (54) has silica gel contact piece (55), and is a plurality of the equal fixed mounting in inside of silica gel contact piece (55) has pressure sensor (56).
7. The identification method of the soft object grasp identification device of the industrial robot according to any one of claims 1 to 6, characterized in that: the identification method of the soft object comprises the following steps of;
step one, when a soft object passes through the bottom of the camera (36), the camera (36) recognizes the shape of the soft object through a shape recognition module (361), a virtual rectangle is formed after recognition, an adjustable grabbing frame is further arranged outside the virtual rectangle, and the position of the grabbing frame where the soft object is grabbed by the device board (4) is located on the side line of the grabbing frame;
drawing a circle by taking a central point formed by intersecting central lines of two adjacent sides of the rectangle as a circle center to form a pickup ring, wherein the radius of the pickup ring is adjustable;
and step three, measuring an angle after the center point of the cursor aligns with the circle center of the pickup ring, controlling the steering motor (31) to start and drive the grabbing fixture part to steer to coincide with the central line of the rectangle in the step one according to the measured angle, and then grabbing.
8. The identification method of the soft object grasp identification device of the industrial robot according to claim 7, characterized in that: the shape recognition module (361) is composed of either or both of a shape recognition sensor (3611) and a contour sensor (3612).
9. The identification method of the soft object grasp identification device of the industrial robot according to claim 7, characterized in that: the angles measured in the third step are measured according to the sequence from the first quadrant to the fourth quadrant, the measured angles are divided into an angle A and an angle B, and the sum of the angle A and the angle B is ninety degrees;
and controlling the starting angle of the steering motor to take the minimum angle of the angle A and the angle B as a reference angle, and when the angle A is equal to the angle B, determining according to the sequence from the first quadrant to the fourth quadrant.
10. The identification method of the soft object grasp identification device of the industrial robot according to claim 9, characterized in that: and taking the middle line of the long side of the rectangle in the third step, and measuring the angle according to the sequence from the first quadrant to the fourth quadrant when the long side and the short side of the rectangle are equal.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110591367.5A CN113232024A (en) | 2021-05-28 | 2021-05-28 | Industrial robot soft object grabbing and identifying device and method |
| PCT/CN2021/103473 WO2022246949A1 (en) | 2021-05-28 | 2021-06-30 | Recognition device and recognition method for industrial robot grabbing soft object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110591367.5A CN113232024A (en) | 2021-05-28 | 2021-05-28 | Industrial robot soft object grabbing and identifying device and method |
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| CN113232024A true CN113232024A (en) | 2021-08-10 |
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| CN202110591367.5A Withdrawn CN113232024A (en) | 2021-05-28 | 2021-05-28 | Industrial robot soft object grabbing and identifying device and method |
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| CN (1) | CN113232024A (en) |
| WO (1) | WO2022246949A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091446A (en) * | 2022-07-12 | 2022-09-23 | 西安航空学院 | Mechanical-electrical integrated industrial robot automation control system |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116040199A (en) * | 2023-03-08 | 2023-05-02 | 宁波保鑫机械有限公司 | Auto-parts material loading conveyor |
| CN116544162B (en) * | 2023-05-24 | 2024-05-28 | 深圳龙芯半导体科技有限公司 | Semiconductor device production sampling detection grabbing mechanism |
| CN116824064B (en) * | 2023-07-14 | 2024-06-04 | 湖南大学 | Point cloud data model generation method and device, computing equipment and storage medium |
| CN116750464B (en) * | 2023-08-16 | 2023-11-07 | 江苏人民机具有限公司 | Automatic turning device of track shoe |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7001261B2 (en) * | 2003-09-19 | 2006-02-21 | Tyson Fresh Meats, Inc. | Automated classifier and meat cut fat trimming method and apparatus |
| CN103162818B (en) * | 2013-01-12 | 2015-08-12 | 中国兵器工业第二0五研究所 | Based on the laser beam beamwidth evaluation method of invariant moment |
| CN105798894B (en) * | 2016-04-11 | 2018-07-06 | 哈尔滨理工大学 | A kind of catching robot of turnable babinet |
| CN107696044A (en) * | 2017-09-25 | 2018-02-16 | 香港中文大学（深圳） | A kind of climbing manipulator |
| CN110103249B (en) * | 2019-05-31 | 2022-01-25 | 广西大学 | Self-adaptive soft-body-imitating robot gripper |
-
2021
- 2021-05-28 CN CN202110591367.5A patent/CN113232024A/en not_active Withdrawn
- 2021-06-30 WO PCT/CN2021/103473 patent/WO2022246949A1/en active Application Filing
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115091446A (en) * | 2022-07-12 | 2022-09-23 | 西安航空学院 | Mechanical-electrical integrated industrial robot automation control system |
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| WO2022246949A1 (en) | 2022-12-01 |
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Application publication date: 20210810 |